Surgical instrument assembly comprising a lockable articulation system

ABSTRACT

A surgical stapling apparatus is disclosed which comprises a shaft, an end effector, and an articulation joint, wherein the end effector is rotatable relative to the shaft about the articulation joint. The stapling apparatus further comprises a firing drive responsive to an input, an articulation drive, and a switch assembly configured to selectively couple the articulation drive to the input. The switch assembly is configured to lock the articulation drive in position when the articulation drive is not coupled to the input.

BACKGROUND

The present invention relates to surgical instruments and, in various embodiments, to surgical stapling and cutting instruments and staple cartridges for use therewith.

A stapling instrument can include a pair of cooperating elongate jaw members, wherein each jaw member can be adapted to be inserted into a patient and positioned relative to tissue that is to be stapled and/or incised. In various embodiments, one of the jaw members can support a staple cartridge with at least two laterally spaced rows of staples contained therein, and the other jaw member can support an anvil with staple-forming pockets aligned with the rows of staples in the staple cartridge. Generally, the stapling instrument can further include a pusher bar and a knife blade which are slidable relative to the jaw members to sequentially eject the staples from the staple cartridge via camming surfaces on the pusher bar and/or camming surfaces on a wedge sled that is pushed by the pusher bar. In at least one embodiment, the camming surfaces can be configured to activate a plurality of staple drivers carried by the cartridge and associated with the staples in order to push the staples against the anvil and form laterally spaced rows of deformed staples in the tissue gripped between the jaw members. In at least one embodiment, the knife blade can trail the camming surfaces and cut the tissue along a line between the staple rows. Examples of such stapling instruments are disclosed in U.S. Pat. No. 7,794,475, entitled SURGICAL STAPLES HAVING COMPRESSIBLE OR CRUSHABLE MEMBERS FOR SECURING TISSUE THEREIN AND STAPLING INSTRUMENTS FOR DEPLOYING THE SAME, the entire disclosure of which is hereby incorporated by reference herein.

The foregoing discussion is intended only to illustrate various aspects of the related art in the field of the invention at the time, and should not be taken as a disavowal of claim scope.

BRIEF DESCRIPTION OF THE DRAWINGS

Various features of the embodiments described herein, together with advantages thereof, may be understood in accordance with the following description taken in conjunction with the accompanying drawings as follows:

FIG. 1 is a perspective view of a surgical stapling instrument in accordance with at least one embodiment comprising a handle, a shaft extending from the handle, an end effector, and an articulation joint rotatably connecting the end effector to the shaft;

FIG. 2 is a detail view of the articulation joint of FIG. 1;

FIG. 3 is a cross-sectional end view of the articulation joint of FIG. 1 taken along line 3-3 in FIG. 2;

FIG. 4 is a cross-sectional plan view of the articulation joint of FIG. 1 in an unarticulated configuration;

FIG. 5 is a cross-sectional plan view of the articulation joint of FIG. 1 in an articulated configuration;

FIG. 6 is a partial cross-sectional perspective view of a shaft assembly usable with the handle of FIG. 1;

FIG. 7 is a perspective view of the shaft assembly of FIG. 6 illustrated with components removed to illustrate an articulation actuation system;

FIG. 8 is a perspective view of the shaft assembly of FIG. 6 illustrated with additional components removed to illustrate the articulation actuation system of FIG. 7;

FIG. 9 is an exploded view of the shaft assembly of FIG. 6;

FIG. 10 is a cross-sectional plan view of the shaft assembly of FIG. 6 illustrating the articulation actuation system in an unarticulated configuration;

FIG. 11 is a cross-sectional plan view of the shaft assembly of FIG. 6 illustrating the articulation actuation system in an articulated configuration;

FIG. 12 is a cross-sectional elevational view of the shaft assembly of FIG. 6 illustrated in an articulation operating mode;

FIG. 13 is a cross-sectional elevational view of the shaft assembly of FIG. 6 illustrated in a firing operating mode;

FIG. 14 is a partial cross-sectional perspective view of a shaft assembly in accordance with at least one embodiment comprising a closure tube configured to close an end effector and, in addition, a switch assembly configured to switch the shaft assembly between an articulation operating mode and a firing operating mode in response to the movement of the closure tube;

FIG. 15 is another partial cross-sectional perspective view of the shaft assembly of FIG. 14 illustrated with a portion of the switch assembly removed for the purpose of illustration;

FIG. 16 is a partial perspective view of the shaft assembly of FIG. 14 illustrated with additional components removed for the purpose of illustration;

FIG. 17 is another partial perspective view of the shaft assembly of FIG. 14 illustrated in the articulation operating mode and further illustrated with the closure tube removed for the purpose of illustration;

FIG. 18 is a partial exploded view of the shaft assembly of FIG. 14 illustrated with components removed for the purpose of illustration;

FIG. 19 is another partial exploded view of the shaft assembly of FIG. 14 illustrated with components removed for the purpose of illustration;

FIG. 20 is a cross-sectional end view of the shaft assembly of FIG. 14 taken along line 20-20 in FIG. 17 illustrated in the articulation operating mode;

FIG. 21 is a cross-sectional end view of the shaft assembly of FIG. 14 taken along line 20-20 in FIG. 17 illustrated in the firing operating mode;

FIG. 22 is a schematic illustrating an articulation system of the shaft assembly of FIG. 14 in an unarticulated configuration; and

FIG. 23 is a schematic illustrating an articulation system of the shaft assembly of FIG. 14 in an articulated configuration.

Corresponding reference characters indicate corresponding parts throughout the several views. The exemplifications set out herein illustrate various embodiments of the invention, in one form, and such exemplifications are not to be construed as limiting the scope of the invention in any manner.

DETAILED DESCRIPTION

Applicant of the present application owns the following patent applications that were filed on Dec. 18, 2014 which are each herein incorporated by reference in their respective entireties:

U.S. patent application Ser. No. 14/574,478, entitled SURGICAL INSTRUMENT SYSTEMS COMPRISING AN ARTICULATABLE END EFFECTOR AND MEANS FOR ADJUSTING THE FIRING STROKE OF A FIRING MEMBER, now U.S. Patent Application Publication No. 2016/0174977;

U.S. patent application Ser. No. 14/574,483, entitled SURGICAL INSTRUMENT ASSEMBLY COMPRISING LOCKABLE SYSTEMS, now U.S. Patent Application Publication No. 2016/0174969;

U.S. patent application Ser. No. 14/575,139, entitled DRIVE ARRANGEMENTS FOR ARTICULATABLE SURGICAL INSTRUMENTS, now U.S. Patent Application Publication No. 2016/0174978;

U.S. patent application Ser. No. 14/575,148, entitled LOCKING ARRANGEMENTS FOR DETACHABLE SHAFT ASSEMBLIES WITH ARTICULATABLE SURGICAL END EFFECTORS, now U.S. Patent Application Publication No. 2016/0174976;

U.S. patent application Ser. No. 14/575,130, entitled SURGICAL INSTRUMENT WITH AN ANVIL THAT IS SELECTIVELY MOVABLE ABOUT A DISCRETE NON-MOVABLE AXIS RELATIVE TO A STAPLE CARTRIDGE, now U.S. Patent Application Publication No. 2016/0174972;

U.S. patent application Ser. No. 14/575,143, entitled SURGICAL INSTRUMENTS WITH IMPROVED CLOSURE ARRANGEMENTS, now U.S. Patent Application Publication No. 2016/0174983;

U.S. patent application Ser. No. 14/575,117, entitled SURGICAL INSTRUMENTS WITH ARTICULATABLE END EFFECTORS AND MOVABLE FIRING BEAM SUPPORT ARRANGEMENTS, now U.S. Patent Application Publication No. 2016/0174975;

U.S. patent application Ser. No. 14/575,154, entitled SURGICAL INSTRUMENTS WITH ARTICULATABLE END EFFECTORS AND IMPROVED FIRING BEAM SUPPORT ARRANGEMENTS, now U.S. Patent Application Publication No. 2016/0174973; and

U.S. patent application Ser. No. 14/574,493, entitled SURGICAL INSTRUMENT ASSEMBLY COMPRISING A FLEXIBLE ARTICULATION SYSTEM, now U.S. Patent Application Publication No. 2016/0174970.

Applicant of the present application owns the following patent applications that were filed on Mar. 1, 2013 and which are each herein incorporated by reference in their respective entireties:

U.S. patent application Ser. No. 13/782,295, entitled ARTICULATABLE SURGICAL INSTRUMENTS WITH CONDUCTIVE PATHWAYS FOR SIGNAL COMMUNICATION, now U.S. Patent Application Publication No. 2014/0246471;

U.S. patent application Ser. No. 13/782,323, entitled ROTARY POWERED ARTICULATION JOINTS FOR SURGICAL INSTRUMENTS, now U.S. Patent Application Publication No. 2014/0246472;

U.S. patent application Ser. No. 13/782,338, entitled THUMBWHEEL SWITCH ARRANGEMENTS FOR SURGICAL INSTRUMENTS, now U.S. Patent Application Publication No. 2014/0249557;

U.S. patent application Ser. No. 13/782,499, entitled ELECTROMECHANICAL SURGICAL DEVICE WITH SIGNAL RELAY ARRANGEMENT, now U.S. Patent Application Publication No. 2014/0246474;

U.S. patent application Ser. No. 13/782,460, entitled MULTIPLE PROCESSOR MOTOR CONTROL FOR MODULAR SURGICAL INSTRUMENTS, now U.S. Patent Application Publication No. 2014/0246478;

U.S. patent application Ser. No. 13/782,358, entitled JOYSTICK SWITCH ASSEMBLIES FOR SURGICAL INSTRUMENTS, now U.S. Patent Application Publication No. 2014/0246477;

U.S. patent application Ser. No. 13/782,481, entitled SENSOR STRAIGHTENED END EFFECTOR DURING REMOVAL THROUGH TROCAR, now U.S. Patent Application Publication No. 2014/0246479;

U.S. patent application Ser. No. 13/782,518, entitled CONTROL METHODS FOR SURGICAL INSTRUMENTS WITH REMOVABLE IMPLEMENT PORTIONS, now U.S. Patent Application Publication No. 2014/0246475;

U.S. patent application Ser. No. 13/782,375, entitled ROTARY POWERED SURGICAL INSTRUMENTS WITH MULTIPLE DEGREES OF FREEDOM, now U.S. Patent Application Publication No. 2014/0246473; and

U.S. patent application Ser. No. 13/782,536, entitled SURGICAL INSTRUMENT SOFT STOP, now U.S. Patent Application Publication No. 2014/0246476.

Applicant of the present application also owns the following patent applications that were filed on Mar. 14, 2013 and which are each herein incorporated by reference in their respective entireties:

U.S. patent application Ser. No. 13/803,097, entitled ARTICULATABLE SURGICAL INSTRUMENT COMPRISING A FIRING DRIVE, now U.S. Patent Application Publication No. 2014/0263542;

U.S. patent application Ser. No. 13/803,193, entitled CONTROL ARRANGEMENTS FOR A DRIVE MEMBER OF A SURGICAL INSTRUMENT, now U.S. Patent Application Publication No. 2014/0263537;

U.S. patent application Ser. No. 13/803,053, entitled INTERCHANGEABLE SHAFT ASSEMBLIES FOR USE WITH A SURGICAL INSTRUMENT, now U.S. Patent Application Publication No. 2014/0263564;

U.S. patent application Ser. No. 13/803,086, entitled ARTICULATABLE SURGICAL INSTRUMENT COMPRISING AN ARTICULATION LOCK, now U.S. Patent Application Publication No. 2014/0263541;

U.S. patent application Ser. No. 13/803,210, entitled SENSOR ARRANGEMENTS FOR ABSOLUTE POSITIONING SYSTEM FOR SURGICAL INSTRUMENTS, now U.S. Patent Application Publication No. 2014/0263538;

U.S. patent application Ser. No. 13/803,148, entitled MULTI-FUNCTION MOTOR FOR A SURGICAL INSTRUMENT, now U.S. Patent Application Publication No. 2014/0263554;

U.S. patent application Ser. No. 13/803,066, entitled DRIVE SYSTEM LOCKOUT ARRANGEMENTS FOR MODULAR SURGICAL INSTRUMENTS, now U.S. Patent Application Publication No. 2014/0263565;

U.S. patent application Ser. No. 13/803,117, entitled ARTICULATION CONTROL SYSTEM FOR ARTICULATABLE SURGICAL INSTRUMENTS, now U.S. Patent Application Publication No. 2014/0263553;

U.S. patent application Ser. No. 13/803,130, entitled DRIVE TRAIN CONTROL ARRANGEMENTS FOR MODULAR SURGICAL INSTRUMENTS, now U.S. Patent Application Publication No. 2014/0263543; and

U.S. patent application Ser. No. 13/803,159, entitled METHOD AND SYSTEM FOR OPERATING A SURGICAL INSTRUMENT, now U.S. Patent Application Publication No. 2014/0277017.

Applicant of the present application also owns the following patent application that was filed on Mar. 7, 2014 and is herein incorporated by reference in its entirety:

U.S. patent application Ser. No. 14/200,111, entitled CONTROL SYSTEMS FOR SURGICAL INSTRUMENTS, now U.S. Patent Application Publication No. 2014/0263539.

Applicant of the present application also owns the following patent applications that were filed on Mar. 26, 2014 and are each herein incorporated by reference in their respective entireties:

U.S. patent application Ser. No. 14/226,106, entitled POWER MANAGEMENT CONTROL SYSTEMS FOR SURGICAL INSTRUMENTS;

U.S. patent application Ser. No. 14/226,099, entitled STERILIZATION VERIFICATION CIRCUIT;

U.S. patent application Ser. No. 14/226,094, entitled VERIFICATION OF NUMBER OF BATTERY EXCHANGES/PROCEDURE COUNT;

U.S. patent application Ser. No. 14/226,117, entitled POWER MANAGEMENT THROUGH SLEEP OPTIONS OF SEGMENTED CIRCUIT AND WAKE UP CONTROL;

U.S. patent application Ser. No. 14/226,075, entitled MODULAR POWERED SURGICAL INSTRUMENT WITH DETACHABLE SHAFT ASSEMBLIES;

U.S. patent application Ser. No. 14/226,093, entitled FEEDBACK ALGORITHMS FOR MANUAL BAILOUT SYSTEMS FOR SURGICAL INSTRUMENTS;

U.S. patent application Ser. No. 14/226,116, entitled SURGICAL INSTRUMENT UTILIZING SENSOR ADAPTATION;

U.S. patent application Ser. No. 14/226,071, entitled SURGICAL INSTRUMENT CONTROL CIRCUIT HAVING A SAFETY PROCESSOR;

U.S. patent application Ser. No. 14/226,097, entitled SURGICAL INSTRUMENT COMPRISING INTERACTIVE SYSTEMS;

U.S. patent application Ser. No. 14/226,126, entitled INTERFACE SYSTEMS FOR USE WITH SURGICAL INSTRUMENTS;

U.S. patent application Ser. No. 14/226,133, entitled MODULAR SURGICAL INSTRUMENT SYSTEM;

U.S. patent application Ser. No. 14/226,081, entitled SYSTEMS AND METHODS FOR CONTROLLING A SEGMENTED CIRCUIT;

U.S. patent application Ser. No. 14/226,076, entitled POWER MANAGEMENT THROUGH SEGMENTED CIRCUIT AND VARIABLE VOLTAGE PROTECTION;

U.S. patent application Ser. No. 14/226,111, entitled SURGICAL STAPLING INSTRUMENT SYSTEM; and

U.S. patent application Ser. No. 14/226,125, entitled SURGICAL INSTRUMENT COMPRISING A ROTATABLE SHAFT.

Applicant of the present application also owns the following patent applications that were filed on Sep. 5, 2014 and which are each herein incorporated by reference in their respective entireties:

U.S. patent application Ser. No. 14/479,103, entitled CIRCUITRY AND SENSORS FOR POWERED MEDICAL DEVICE;

U.S. patent application Ser. No. 14/479,119, entitled ADJUNCT WITH INTEGRATED SENSORS TO QUANTIFY TISSUE COMPRESSION;

U.S. patent application Ser. No. 14/478,908, entitled MONITORING DEVICE DEGRADATION BASED ON COMPONENT EVALUATION;

U.S. patent application Ser. No. 14/478,895, entitled MULTIPLE SENSORS WITH ONE SENSOR AFFECTING A SECOND SENSOR'S OUTPUT OR INTERPRETATION;

U.S. patent application Ser. No. 14/479,110, entitled USE OF POLARITY OF HALL MAGNET DETECTION TO DETECT MISLOADED CARTRIDGE;

U.S. patent application Ser. No. 14/479,098, entitled SMART CARTRIDGE WAKE UP OPERATION AND DATA RETENTION;

U.S. patent application Ser. No. 14/479,115, entitled MULTIPLE MOTOR CONTROL FOR POWERED MEDICAL DEVICE; and

U.S. patent application Ser. No. 14/479,108, entitled LOCAL DISPLAY OF TISSUE PARAMETER STABILIZATION.

Applicant of the present application also owns the following patent applications that were filed on Apr. 9, 2014 and which are each herein incorporated by reference in their respective entireties:

U.S. patent application Ser. No. 14/248,590, entitled MOTOR DRIVEN SURGICAL INSTRUMENTS WITH LOCKABLE DUAL DRIVE SHAFTS, now U.S. Patent Application Publication No. 2014/0305987;

U.S. patent application Ser. No. 14/248,581, entitled SURGICAL INSTRUMENT COMPRISING A CLOSING DRIVE AND A FIRING DRIVE OPERATED FROM THE SAME ROTATABLE OUTPUT, now U.S. Patent Application Publication No. 2014/0305989;

U.S. patent application Ser. No. 14/248,595, entitled SURGICAL INSTRUMENT SHAFT INCLUDING SWITCHES FOR CONTROLLING THE OPERATION OF THE SURGICAL INSTRUMENT, now U.S. Patent Application Publication No. 2014/0305988;

U.S. patent application Ser. No. 14/248,588, entitled POWERED LINEAR SURGICAL STAPLER, now U.S. Patent Application Publication No. 2014/0309666;

U.S. patent application Ser. No. 14/248,591, entitled TRANSMISSION ARRANGEMENT FOR A SURGICAL INSTRUMENT, now U.S. Patent Application Publication No. 2014/0305991;

U.S. patent application Ser. No. 14/248,584, entitled MODULAR MOTOR DRIVEN SURGICAL INSTRUMENTS WITH ALIGNMENT FEATURES FOR ALIGNING ROTARY DRIVE SHAFTS WITH SURGICAL END EFFECTOR SHAFTS, now U.S. Patent Application Publication No. 2014/0305994;

U.S. patent application Ser. No. 14/248,587, entitled POWERED SURGICAL STAPLER, now U.S. Patent Application Publication No. 2014/0309665;

U.S. patent application Ser. No. 14/248,586, entitled DRIVE SYSTEM DECOUPLING ARRANGEMENT FOR A SURGICAL INSTRUMENT, now U.S. Patent Application Publication No. 2014/0305990; and

U.S. patent application Ser. No. 14/248,607, entitled MODULAR MOTOR DRIVEN SURGICAL INSTRUMENTS WITH STATUS INDICATION ARRANGEMENTS, now U.S. Patent Application Publication No. 2014/0305992.

Applicant of the present application also owns the following patent applications that were filed on Apr. 16, 2013 and which are each herein incorporated by reference in their respective entireties:

U.S. Provisional Patent Application Ser. No. 61/812,365, entitled SURGICAL INSTRUMENT WITH MULTIPLE FUNCTIONS PERFORMED BY A SINGLE MOTOR;

U.S. Provisional Patent Application Ser. No. 61/812,376, entitled LINEAR CUTTER WITH POWER;

U.S. Provisional Patent Application Ser. No. 61/812,382, entitled LINEAR CUTTER WITH MOTOR AND PISTOL GRIP;

U.S. Provisional Patent Application Ser. No. 61/812,385, entitled SURGICAL INSTRUMENT HANDLE WITH MULTIPLE ACTUATION MOTORS AND MOTOR CONTROL; and

U.S. Provisional Patent Application Ser. No. 61/812,372, entitled SURGICAL INSTRUMENT WITH MULTIPLE FUNCTIONS PERFORMED BY A SINGLE MOTOR.

Numerous specific details are set forth to provide a thorough understanding of the overall structure, function, manufacture, and use of the embodiments as described in the specification and illustrated in the accompanying drawings. Well-known operations, components, and elements have not been described in detail so as not to obscure the embodiments described in the specification. The reader will understand that the embodiments described and illustrated herein are non-limiting examples, and thus it can be appreciated that the specific structural and functional details disclosed herein may be representative and illustrative. Variations and changes thereto may be made without departing from the scope of the claims.

The terms “comprise” (and any form of comprise, such as “comprises” and “comprising”), “have” (and any form of have, such as “has” and “having”), “include” (and any form of include, such as “includes” and “including”) and “contain” (and any form of contain, such as “contains” and “containing”) are open-ended linking verbs. As a result, a surgical system, device, or apparatus that “comprises,” “has,” “includes” or “contains” one or more elements possesses those one or more elements, but is not limited to possessing only those one or more elements. Likewise, an element of a system, device, or apparatus that “comprises,” “has,” “includes” or “contains” one or more features possesses those one or more features, but is not limited to possessing only those one or more features.

The terms “proximal” and “distal” are used herein with reference to a clinician manipulating the handle portion of the surgical instrument. The term “proximal” referring to the portion closest to the clinician and the term “distal” referring to the portion located away from the clinician. It will be further appreciated that, for convenience and clarity, spatial terms such as “vertical”, “horizontal”, “up”, and “down” may be used herein with respect to the drawings. However, surgical instruments are used in many orientations and positions, and these terms are not intended to be limiting and/or absolute.

Various exemplary devices and methods are provided for performing laparoscopic and minimally invasive surgical procedures. However, the reader will readily appreciate that the various methods and devices disclosed herein can be used in numerous surgical procedures and applications including, for example, in connection with open surgical procedures. As the present Detailed Description proceeds, the reader will further appreciate that the various instruments disclosed herein can be inserted into a body in any way, such as through a natural orifice, through an incision or puncture hole formed in tissue, etc. The working portions or end effector portions of the instruments can be inserted directly into a patient's body or can be inserted through an access device that has a working channel through which the end effector and elongated shaft of a surgical instrument can be advanced.

A surgical stapling system can comprise a shaft and an end effector extending from the shaft. The end effector comprises a first jaw and a second jaw. The first jaw comprises a staple cartridge. The staple cartridge is insertable into and removable from the first jaw; however, other embodiments are envisioned in which a staple cartridge is not removable from, or at least readily replaceable from, the first jaw. The second jaw comprises an anvil configured to deform staples ejected from the staple cartridge. The second jaw is pivotable relative to the first jaw about a closure axis; however, other embodiments are envisioned in which first jaw is pivotable relative to the second jaw. The surgical stapling system further comprises an articulation joint configured to permit the end effector to be rotated, or articulated, relative to the shaft. The end effector is rotatable about an articulation axis extending through the articulation joint. Other embodiments are envisioned which do not include an articulation joint.

The staple cartridge comprises a cartridge body. The cartridge body includes a proximal end, a distal end, and a deck extending between the proximal end and the distal end. In use, the staple cartridge is positioned on a first side of the tissue to be stapled and the anvil is positioned on a second side of the tissue. The anvil is moved toward the staple cartridge to compress and clamp the tissue against the deck. Thereafter, staples removably stored in the cartridge body can be deployed into the tissue. The cartridge body includes staple cavities defined therein wherein staples are removably stored in the staple cavities. The staple cavities are arranged in six longitudinal rows. Three rows of staple cavities are positioned on a first side of a longitudinal slot and three rows of staple cavities are positioned on a second side of the longitudinal slot. Other arrangements of staple cavities and staples may be possible.

The staples are supported by staple drivers in the cartridge body. The drivers are movable between a first, or unfired position, and a second, or fired, position to eject the staples from the staple cavities. The drivers are retained in the cartridge body by a retainer which extends around the bottom of the cartridge body and includes resilient members configured to grip the cartridge body and hold the retainer to the cartridge body. The drivers are movable between their unfired positions and their fired positions by a sled. The sled is movable between a proximal position adjacent the proximal end and a distal position adjacent the distal end. The sled comprises a plurality of ramped surfaces configured to slide under the drivers and lift the drivers, and the staples supported thereon, toward the anvil.

Further to the above, the sled is moved distally by a firing member. The firing member is configured to contact the sled and push the sled toward the distal end. The longitudinal slot defined in the cartridge body is configured to receive the firing member. The anvil also includes a slot configured to receive the firing member. The firing member further comprises a first cam which engages the first jaw and a second cam which engages the second jaw. As the firing member is advanced distally, the first cam and the second cam can control the distance, or tissue gap, between the deck of the staple cartridge and the anvil. The firing member also comprises a knife configured to incise the tissue captured intermediate the staple cartridge and the anvil. It is desirable for the knife to be positioned at least partially proximal to the ramped surfaces such that the staples are ejected ahead of the knife.

A surgical stapling assembly 100 is illustrated in FIGS. 1-5. The surgical instrument assembly 100 comprises a handle 110, a shaft assembly 120 attached to and extending from the handle 110, an end effector 130, and an articulation joint 140 which rotatably connects the end effector 130 to the shaft assembly 120. The handle 110 comprises a handle housing 115 and a pistol grip 112 extending from the handle housing 115. The handle 110 further comprises a closure actuator 114 configured to generate a closing motion and an opening motion which are transferred to the end effector 130 via the shaft assembly 120. The handle 110 also comprises an articulation actuator 116 configured to articulate the end effector 130 about the articulation joint 140. In at least one instance, the articulation actuator 116 is operable in a first direction to rotate the end effector 130 in a first direction and a second direction to rotate the end effector 130 in a second, or opposite, direction. The handle 110 further comprises a firing actuator configured to generate a firing motion which is also transferred to the end effector 130 via the shaft assembly 120.

The shaft assembly 120 comprises a proximal housing, or nozzle, 125 which is attachable to the handle housing 115. The shaft assembly 120 further includes a releasable latch 126 configured to releasably lock the shaft housing 125 to the handle housing 115. The shaft 120 also includes a closure tube 124 which is operably connected to the closure actuator 114 of the handle 110. When the closure actuator 114 is drawn toward the pistol grip 112, the closure actuator 114 is advanced distally toward the end effector 130. The closure actuator 114 is coupled to the closure tube 124 via a system of gears and/or racks, for example, such that the motion of the closure actuator 114 is transferred to the closure tube 124. In certain instances, the actuation of the closure actuator 114 can operate an electric motor which can move the closure tube 124. In either event, the handle 110 can include a lock configured to releasably hold the closure actuator 114 in its fully closed position. When the closure actuator 114 is released and moves away from the pistol grip 112, the closure tube 124 is pulled proximally away from the end effector 130.

The end effector 130 comprises a first jaw 132 including a staple cartridge. The staple cartridge includes a cartridge body and a plurality of staples removably positioned in the cartridge body. The staple cartridge may be insertable into and readily removable from the first jaw 132 such that it can be replaced with another staple cartridge. In other instances, the staple cartridge may not be readily replaceable. In either event, the staples are ejected from the staple cartridge when a firing member is advanced distally by a firing motion generated when the firing actuator is actuated. The end effector further comprises a second jaw 134 movable between an open position and a closed position in response to the opening motion and closing motion generated when the closure actuator 114 is operated. Other embodiments are envisioned in which the first jaw 132 is movable relative to the second jaw 134. The second jaw 134 is configured to clamp tissue against the staple cartridge when the second jaw 134 is moved into a closed position. The second jaw 134 comprises an anvil configured to deform the staples when the staples are ejected from the staple cartridge by the firing member. The firing member also includes a cutting portion, such as a knife, for example, which transects the tissue being stapled.

The articulation joint 140 comprises a proximal mount 141 mounted to a frame, or spine, 122 of the shaft 120. The proximal mount 141 is fixedly attached to the shaft frame 122. The articulation joint 140 further comprises a distal mount 143 mounted to the first jaw 132. Similarly, the distal mount 143 is fixedly attached to the first jaw 132. The articulation joint 140 also comprises a plurality of elements, or discs, 142 positioned intermediate the proximal mount 141 and the distal mount 143. Referring primarily to FIG. 3, each disc 142 comprises a central aperture 145 defined therein. A firing member 150, which is responsive to the firing motions produced by the firing actuator of the handle 110, extends through the central apertures 145. Each disc 142 further comprises a first lateral aperture 146 and a second lateral aperture 147 defined therein. The first lateral apertures 146 and the second lateral apertures 147 are positioned on opposite sides of the discs 142 and on opposite sides of the central apertures 145. A first articulation actuator 170 extends through the first lateral apertures 146. The first articulation actuator 170 comprises a distal end 179 fixedly mounted to the first jaw 132. Similarly, a second articulation actuator 180 extends through the second lateral apertures 147. The second articulation actuator 180 also comprises a distal end 189 fixedly mounted to the first jaw 132.

Articulation joints can comprise a single fixed axis pivot about which an end effector is rotated. The articulation joint 140 does not comprise a single fixed axis pivot; rather, the articulation joint 140 comprises an array of pivots defined by the discs 142. Each disc 142 comprises a proximal face 148 and a distal face 149. Each proximal face 148 comprises a contoured surface, such as an angled and/or curved surface, for example. Similarly, each distal face 149 comprises a contoured surface, such as an angled and/or curved surface, for example. The contoured surfaces 148, 149 extend laterally away from a central portion of the discs 142. As a result of the contoured surfaces 148, 149, the central portions of the discs 142 is thicker than the edge portions of the discs 142. As a result of this configuration, each disc 142 is rotatable, at least to a certain degree, relative to an adjacent disc 142. When the end effector 130 is rotated in a first direction about the articulation joint 140, referring to FIG. 5, the proximal surface 149 of the proximal-most disc 142 can move toward and, depending on the degree in which the end effector 130 is articulated, come into contact with the proximal mount 141. Similarly, the proximal surface 149 of the second proximal-most disc 142 can move toward and, depending on the degree in which the end effector 130 is articulated, come into contact with the distal surface 148 of the proximal-most disc 142. Likewise, the proximal surface 149 of the third proximal-most disc 142 can move toward and, depending on the degree in which the end effector 130 is articulated, come into contact with the distal surface 148 of the second proximal-most disc 142, and so forth.

The end effector 130 is rotated about the articulation joint 140 by the first articulation actuator 170 and/or the second articulation actuator 180. In order to rotate the end effector 130 in a first direction, illustrated in FIG. 5, the articulation actuator 170 is pulled proximally. The articulation actuator 180 can also be pushed distally to rotate the end effector 130 in the first direction. In order to rotate the end effector 130 in a second, or opposite, direction, the articulation actuator 180 is pulled proximally. The articulation actuator 170 can also be pushed distally to rotate the end effector in the second direction. The articulations actuators 170, 180 can be comprised of any suitable materials, such as cables, for example.

The first articulation direction and the second articulation direction of the end effector 130 are in the same plane. This plane is defined by the closure tube 124. The closure tube 124 comprises a proximal portion and a distal portion which are rotatably connected to each other by pivot links 126. A first pivot link 126 extends over the top of the articulation joint 140 while a second pivot link 126 extends under the bottom of the articulation joint 140. Each pivot link 126 comprises a proximal pivot pin 127 engaged with the proximal portion of the closure tube 124 and a distal pivot pin 127 engaged with the distal portion of the closure tube 124. The pivot links 126 are parallel to one another and constrain the movement of the end effector 130 to the plane including the first direction and the second direction.

Once the clinician is satisfied with the orientation of the end effector 130, the end effector 130 can be locked into position. The surgical stapling assembly 100 comprises a first clamp configured to lock and hold the first articulation actuator 170 in position. When the first clamp is in an unclamped configuration, the first articulation actuator 170 can slide relative to the first clamp and, when the first clamp is in a clamped configuration, the first articulation actuator 170 is prevented from moving relative to the first clamp. When the second clamp is in an unclamped configuration, the second articulation actuator 180 can slide relative to the second clamp and, when the second clamp is in a clamped configuration, the second articulation actuator 180 is prevented from moving relative to the second clamp. In use, the first clamp and the second clamp are released to unlock the articulation system and permit the end effector 130 to be rotated. In various instances, the surgical stapling assembly 100 can comprise a common lock actuator for simultaneously opening the first and second clamps. The common lock actuator can also simultaneously close the first and second clamps.

A shaft assembly 220 for use with a surgical instrument is disclosed in FIGS. 6-13. The shaft assembly 220 comprises an articulatable end effector, such as an end effector 230 (FIGS. 10 and 11), for example. The end effector 230 is similar to the end effector 130 in many respects. The shaft assembly 220 also comprises a firing member, such as a firing member 251 (FIGS. 10 and 11), for example. The firing member 251 is similar to the firing member 150 in many respects. The shaft assembly 220 further includes a shaft frame 222 and a movable closure actuator, or tube, 224. The closure tube 224 comprises a longitudinal aperture extending therethrough and the shaft frame 222 extends through the longitudinal aperture. The shaft frame 222 is mounted to a rotation joint 290 and, as a result, the shaft frame 222 is rotatable about a longitudinal shaft axis. The shaft frame 222 is not translatable proximally and distally.

The closure tube 224 is translatable proximally and distally relative to the shaft frame 222, as described in greater detail further below. In addition, the closure tube 224 is rotatable synchronously with the shaft frame 222. The shaft assembly 220 further comprises a housing, or nozzle, 225. A portion of the nozzle 225 extends through a clearance opening defined in the closure tube 224 and is engaged with a notch 221 defined in the shaft frame 222. The nozzle 225 is rotatable about the longitudinal shaft axis to rotate the shaft frame 222 and the closure tube 224. The rotation of the shaft frame 222 and the closure tube 224 about the longitudinal shaft axis rotates the end effector 230 extending from the shaft assembly 220 about the longitudinal shaft axis.

The closure tube 224 is movable from a proximal position to a distal position to, one, transition the end effector 230 from an open configuration to a closed configuration and, two, switch the shaft assembly 200 between an articulation operating mode and a firing operating mode. The shaft assembly 200 comprises an input actuator 250 which can operate an articulation drive 260 to articulate the end effector 230 when the shaft assembly 200 is in its articulation operating mode and, in addition, operate the firing member 251 to fire a staple cartridge positioned in the end effector 230 when the shaft assembly 200 is in its firing operating mode.

Referring primarily to FIGS. 7-9, the articulation drive 260 comprises a barrel drum 261, a first articulation actuator 270, and a second articulation actuator 280. The barrel drum 261 comprises a first articulation groove 262 and a second articulation groove 263 defined therein. The first articulation groove 262 comprises a first end positioned at a distal end of the barrel drum 261 and a second end positioned at a proximal end of the barrel drum 261. The first articulation actuator 270 comprises a follower 272 extending from a proximal end 271 thereof which is positioned in the first articulation groove 262. When the barrel drum 261 is rotated about a longitudinal axis, a sidewall of the first articulation groove 262 engages the follower 272 and pushes the first articulation driver 270 distally or pulls the first articulation driver 270 proximally, depending on the direction in which the barrel drum 261 is rotated. For instance, if the barrel drum 261 is rotated in a clockwise direction CW, the first articulation actuator 270 is pushed distally and, if the barrel drum 261 is rotated in a counter-clockwise direction CCW, the first articulation actuator 270 is pulled proximally.

Similar to the above, the second articulation groove 263 comprises a first end positioned at a distal end of the barrel drum 261 and a second end positioned at a proximal end of the barrel drum 261. The second articulation actuator 280 comprises a follower 282 extending from a proximal end 281 thereof which is positioned in the second articulation groove 263. When the barrel drum 261 is rotated about a longitudinal axis, a sidewall of the first articulation groove 263 engages the follower 282 and pushes the second articulation driver 280 distally or pulls the second articulation driver 280 proximally, depending on the direction in which the barrel drum 261 is rotated. For instance, if the barrel drum 261 is rotated in a clockwise direction CW, the second articulation actuator 280 is pulled proximally and, if the barrel drum 261 is rotated in a counter-clockwise direction CCW, the second articulation actuator 280 is pushed distally.

The first articulation actuator 270 extends along a first lateral side of the shaft frame 222 and the second articulation actuator 280 extends along a second lateral side of the shaft frame 222. The shaft frame 222 comprises a first lateral window 223 defined in the first lateral side of the shaft frame 222 and a second lateral window 223 defined in the second lateral side of the shaft frame 222. The first follower 272 of the first articulation actuator 270 extends through the first lateral window 223 to engage the first articulation groove 262 and the second follower 282 of the second articulation actuator 280 extends through the second lateral window 223 to engage the second articulation groove 263.

As a result of the above, the first articulation actuator 270 is pushed distally and the second articulation actuator 280 is pulled proximally when the barrel drum 261 is rotated in a first, or clockwise, direction CW. Correspondingly, the first articulation actuator 270 is pulled proximally and the second articulation actuator 280 is pushed distally when the barrel drum 261 is rotated in a second, or counter-clockwise, direction CCW.

Referring primarily to FIGS. 10 and 11, the first articulation actuator 270 comprises a distal end 278 operably engaged with the end effector 230. The end effector 230 comprises a first articulation pin 277 extending therefrom which is positioned in an elongate slot 279 defined in the distal end 278 of the first articulation actuator 270. The first articulation pin 277 is closely received within and can slide relative to the elongate slot 279. When the first articulation actuator 270 is pulled proximally, the first articulation actuator 270 pulls the first articulation pin 277 proximally and the end effector 230 is rotated about an articulation joint 240 in the direction indicated in FIG. 11. When the first articulation actuator 270 is pushed distally, the first articulation actuator 270 pushes the first articulation pin 277 distally and the end effector 230 is rotated about the articulation joint 240 in an opposite direction.

Referring primarily to FIGS. 10 and 11, the second articulation actuator 280 comprises a distal end 288 operably engaged with the end effector 230. The end effector 230 comprises a second articulation pin 287 extending therefrom which is positioned in an elongate slot 289 defined in the distal end 288 of the second articulation actuator 270. The second articulation pin 287 is closely received within and can slide relative to the elongate slot 289. When the second articulation actuator 280 is pushed distally, the second articulation actuator 280 pushes the second articulation pin 287 distally and the end effector 230 is rotated about the articulation joint 240 in the direction indicated in FIG. 11. When the second articulation actuator 280 is pulled proximally, the second articulation actuator 280 pulls the second articulation pin 287 proximally and the end effector 230 is rotated about the articulation joint 240 in an opposite direction.

The barrel drum 261 is movable in the clockwise CW and counter-clockwise CCW directions by a lock tube 264. Referring primarily to FIGS. 8 and 9, the lock tube 264 is translatable within the shaft assembly 220. The lock tube 264 comprises a cylindrical body which is positioned in an interior cavity defined in the barrel drum 261. The lock tube 264 further comprises a drive pin 268 extending therefrom which is positioned in a drive groove 267 defined in the interior cavity surface of the barrel drum 261. When the lock tube 264 is moved proximally, the drive pin 268 engages a sidewall of the drive groove 267 and rotates the barrel drum 261 in its clockwise CW direction. When the lock tube 264 is moved distally, the drive pin 268 engages the opposite sidewall of the drive groove 267 and rotates the barrel drum 261 in its counter-clockwise CCW direction. As a result, the lock tube 264 can be moved proximally and distally to adjust the articulation of the end effector 230.

The lock tube 264 is movable between a proximal-most position and a distal-most position. These positions define the full articulation stroke of the lock tube 264. More particularly, when the lock tube 264 is in its distal-most position, the end effector 230 is in its furthest articulated position in one direction, i.e., the direction depicted in FIG. 11, and, when the lock tube 264 is in its proximal-most position, the end effector 230 is in its furthest articulated position in the other direction. Intermediate the proximal-most position and the distal-most position of the lock tube 264 is an intermediate position associated with the unarticulated position of the end effector 230, which is depicted to FIG. 10. The drive pin 268 is positioned within the drive groove 267 throughout the articulation stroke of the lock tube 264; however, other embodiments are envisioned in which the drive pin 268 can exit the drive groove 267 to operably decouple the articulation system 260 from the input actuator 250.

Referring primarily to FIGS. 8 and 9, the lock tube 264 further comprises a longitudinal aperture 259 defined in the cylindrical body and brake arms 265 extending from the cylindrical body. The input actuator 250 extends though the longitudinal aperture 259. The brake arms 265 are releasably engageable with the input actuator 250. When the brake arms 265 are engaged with the input actuator 250, the translational movement of the input actuator 250 is transferred to the lock tube 264. When the brake arms 265 are not engaged with the input actuator 250, the translational movement of the input actuator 250 is not transferred to the lock tube 264. Each brake arm 265 includes at least one ledge configured to engage the input actuator 250. For instance, each brake arm 265 includes a proximal drive surface 266 p and a distal drive surface 266 d. When the brake arms 265 are engaged with the input actuator 250, the input actuator 250 can contact the proximal drive surfaces 266 p to push the lock tube 264 distally and the distal drive surfaces 266 d to pull the lock tube 264 proximally.

Referring primarily to FIG. 12, the shaft assembly 220 further comprises detents 269 which are configured to operably couple the lock tube 264 to the input actuator 250. The detents 269 comprise spherical balls; however, any suitable configuration of the detents 269 could be utilized. Each detent 269 is positioned in a detent seat 229 defined in the shaft frame 222. A first detent 269 is positioned in a first detent seat 229 on a first side of the shaft frame 222 and is biased into engagement with a first brake arm 265 and a second detent 269 is positioned in a second detent seat 229 on a second, or opposite, side of the shaft frame 222 and is biased into engagement with a second brake arm 265. The detents 269 are held against the brake arms 265 by the closure tube 264 when the closure tube 264 is in its open, or proximal, position, as illustrated in FIG. 12. The brake arms 265 comprise resilient cantilever beams which are deflected inwardly toward the input actuator 250 by the closure tube 264 and the detents 269. The closure tube 264 and the detents 269 are designed to be more rigid than the brake arms 265 and, as a result, the brake arms 265 deform instead of, or at least sufficiently more than, the closure tube 264 and the detents 269.

When the closure shaft 224 is moved into its distal, or closed position, to close the end effector 230, detent reliefs 228 defined in the closure tube 224 are aligned with the detents 269. The closure tube 224 comprises a first detent relief 228 defined in the first side of the closure tube 224 which receives the first detent 269 and a second detent relief 228 defined in the second, or opposite, side of the closure tube 224 which receives the second detent 269. Although the detent reliefs 228 contain the detents 269 in the shaft assembly 220, the resiliently-compressed brake arms 265 can push the detents 269 into the detent reliefs 228 and return, or at least partially return, to their undeflected positions when the detent reliefs 228 are aligned with the detents 269. In such instances, the brake arms 265 can move away from the input actuator 250 and become operably disengaged from the input actuator 250. At such point, the translation of the input actuator 250 is not transferred to the lock tube 264 and, as a result, the articulation system 260 is uncoupled from the input actuator 250. Stated another way, the closure of the closure tube 244 switches the shaft assembly 200 from an articulation operating mode to a firing operating mode. The input actuator 250 can then be operated to advance the firing member 251 distally to fire the staples removably stored in a staple cartridge positioned in the end effector 230. Once the staple cartridge has been sufficiently fired, the firing member 251 can be retracted. The firing member 251 is connected to the input actuator 250 such that the firing member 251 is retracted proximally when the input actuator 250 is moved proximally.

The reader should appreciate that the firing member 251 is attached to the input actuator 250 and, as a result, the proximal and distal movements of the input actuator 250 during the articulation operating mode are also being transmitted to the firing member 251 during the articulation operating mode; however, such motions of the firing member 251 during the articulation operating mode are insufficient to fire the staple cartridge. The reader should also appreciate that the articulation actuation system and the firing actuation system are not operated concurrently. To this end, the articulation system 260 can't be actuated while the firing system is being actuated.

As described above, the articulation system 260 can apply a force, or forces, to the end effector 230 and position the end effector 230 during the articulation operating mode. External forces applied to the end effector 230 which tend to unintentionally articulate, or back drive, the end effector 230 can be resisted by the articulation system 260, the input actuator 250, and the electric motor which drives the input actuator 250, for example. The articulation system 260 can also hold the end effector 230 in position during the firing operating mode. Stated another way, the articulation system 260 is not readily back-driven by the end effector 230 eventhough the articulation system 260 is not operably engaged with the input actuator 250. For instance, the sidewalls of the first articulation groove 262 can be angled such that external forces applied to the first articulation actuator 270 through the end effector 230 do not readily rotate the barrel drum 261. Also, for instance, the sidewalls of the second articulation groove 263 can be angled such that external forces applied to the second articulation actuator 280 through the end effector 230 do not readily rotate the barrel drum 261. Such an angle can be referred to as an attack angle. In at least one instance, the sidewalls of the first articulation groove 262 and/or the second articulation groove 263 can be angled at approximately 45 degrees and/or greater than 45 degrees, for example. In certain instances, the sidewalls of the first articulation groove 262 and/or the second articulation groove 263 can be angled at approximately 30 degrees, approximately 60 degrees, and/or between 30 degrees and 60 degrees, for example. In at least one instance, the sidewalls of the first articulation groove 262 and/or the second articulation groove 263 can be angled at approximately 32 degrees and/or approximately 36 degrees, for example. The sidewalls of the first articulation groove 262 can be angled at a first attack angle and the sidewalls of the second articulation groove 263 can be angled at a second angle. The first attack angle can be the same as the second attack angle or different than the second attack angle. In at least one instance, the first attack angle can be approximately 48 degrees and the second attack angle can be approximately 19 degrees, for example. Friction forces between the articulation actuators 270, 280 and the barrel drum 261 can inhibit the movement of the articulation system 260 and, as a result, the end effector 230 may not articulate in response to external forces applied thereto.

Further to the above, the interaction between the drive pin 268 of the lock tube 264 and the drive groove 267 of the barrel drum 261 can resist external back-driving forces which act to rotate the barrel drum 261. Stated another way, the drive pin 268 can block the barrel drum 261 from rotating unintentionally. In such instances, the barrel drum 261 may not be able to push the lock tube 264 distally and/or pull the lock tube 264 proximally. In certain instances, the lock tube 264 can resist such movement as the brake arms 265 can remain frictionally engaged, or in sliding contact with, the input actuator 250 eventhough the brake arms 265 are no longer operably engaged with the input actuator 250 when the closure tube 244 is in its closed position. The brake arms 265 may also be frictionally engaged with the detents 269. Moreover, the sidewalls of the drive groove 267 can be angled such that external forces applied to the barrel drum 261 through the end effector 230 and the articulation actuators 270, 280 do not readily rotate the barrel drum 261. Friction forces between the drive pin 268 and the drive groove 267 can inhibit the movement of the articulation system 260 and, as a result, the end effector 230 may not articulate in response to external forces applied thereto.

The shaft assembly 220 can be switched from its firing operation mode to its articulation operating mode when the closure tube 224 is moved proximally toward its open position. In such instances, the detent reliefs 228 will no longer be aligned with the detents 269 and, as a result, the closure tube 224 can bias the brake arms 265 into engagement with the input actuator 250 via the detents 269 once again.

A shaft assembly 320 for use with a surgical instrument is disclosed in FIGS. 14-23. The shaft assembly 320 comprises an articulatable end effector, such as the end effector 130 (FIG. 1) or the end effector 230 (FIGS. 10 and 11), for example. The shaft assembly 320 also comprises a firing member, such as the firing member 150 or the firing member 251 (FIGS. 10 and 11), for example. The shaft assembly 320 further includes a shaft frame 322 and a movable closure actuator, or tube, 324. The closure tube 324 comprises a longitudinal aperture extending therethrough and the shaft frame 322 extends through the longitudinal aperture. The shaft frame 322 is mounted to a rotation joint 290 and, as a result, the shaft frame 322 is rotatable about a longitudinal shaft axis. The shaft frame 322 is not translatable proximally and distally.

The closure tube 324 is translatable proximally and distally relative to the shaft frame 322, as described in greater detail further below. In addition, the closure tube 324 is rotatable synchronously with the shaft frame 322. The shaft assembly 320 further comprises a housing, or nozzle, 325. A portion of the nozzle 325 extends through a clearance opening defined in the closure tube 324 and is engaged with a notch 321 defined in the shaft frame 322. The nozzle 325 is rotatable about the longitudinal shaft axis to rotate the shaft frame 322 and the closure tube 324. The rotation of the shaft frame 322 and the closure tube 324 about the longitudinal shaft axis rotates the end effector 230, for example, about the longitudinal shaft axis.

The closure tube 324 is movable from a proximal position to a distal position to, one, transition the end effector 230 from an open configuration to a closed configuration and, two, switch the shaft assembly 320 between an articulation operating mode and a firing operating mode. The shaft assembly 320 comprises an input actuator 350 which can operate an articulation drive 360 to articulate the end effector 230 when the shaft assembly 320 is in its articulation operating mode and, in addition, operate the firing member 251 to fire a staple cartridge positioned in the end effector 230 when the shaft assembly 320 is in its firing operating mode.

Referring primarily to FIGS. 17-19, the articulation drive 360 comprises an articulation gear 361, a first articulation actuator 370, and a second articulation actuator 380. The articulation gear 361 is mounted to an articulation gear shaft 362. The articulation gear shaft 362 comprises first and second ends which are rotatably mounted in the nozzle 325. The first articulation actuator 370 comprises a first rack 371 at the proximal end thereof which is meshingly engaged with the articulation gear 361. When the articulation gear 361 and the shaft 362 are rotated about a longitudinal gear shaft axis, the articulation gear 361 pushes the first articulation driver 370 distally or pulls the first articulation driver 370 proximally, depending on the direction in which the articulation gear 361 is rotated. Similarly, the second articulation actuator 380 comprises a second rack 381 at the proximal end thereof which is meshingly engaged with the articulation gear 361. When the articulation gear 361 and shaft 362 are rotated about the longitudinal gear shaft axis, the articulation gear 361 pushes the second articulation driver 380 distally or pulls the second articulation driver 380 proximally, depending on the direction in which the articulation gear 361 is rotated.

As a result of the above, the first articulation actuator 370 is pushed distally and the second articulation actuator 380 is pulled proximally when the articulation gear 361 is rotated in a first direction. Correspondingly, the first articulation actuator 370 is pulled proximally and the second articulation actuator 380 is pushed distally when the articulation gear 361 is rotated in a second direction. FIG. 22 depicts the articulation actuators 370, 380 in an unarticulated configuration. FIG. 23 depicts the articulation actuators 370, 380 in an articulated configuration.

Similar to the first articulation actuator 270, the first articulation actuator 370 comprises a distal end operably engaged with the end effector 230, for example. When the first articulation actuator 370 is pulled proximally, the end effector 230 is rotated about the articulation joint 240 in the direction indicated in FIG. 11. When the first articulation actuator 370 is pushed distally, the end effector 230 is rotated about the articulation joint 240 in an opposite direction. Similar to the second articulation actuator 280, the second articulation actuator 380 comprises a distal end operably engaged with the end effector 230. When the second articulation actuator 380 is pushed distally, the end effector 230 is rotated about the articulation joint 240 in the direction indicated in FIG. 11. When the second articulation actuator 380 is pulled proximally, the end effector 230 is rotated about the articulation joint 240 in an opposite direction.

With continued reference to FIGS. 17-19 and also referring to FIGS. 20 and 21, the articulation gear 361 is selectively drivable by a coupler gear 363, depending on whether the shaft assembly 320 is in an articulation operating mode, illustrated in FIG. 20, or a firing operating mode, illustrated in FIG. 21. When the shaft assembly 320 is in its articulation operating mode, the coupler gear 363 is meshingly engaged with the articulation gear 361 and, in addition, a rack 353 defined on an input actuator 350. When the input actuator 350 is translated proximally, and the coupler gear 363 is operably engaged with the input actuator 350 and the rack 353, the articulation gear 361 is rotated in its first direction. When the input actuator 350 is translated distally, and the coupler gear 363 is operably engaged with the input actuator 350 and the rack 353, the articulation gear 361 is rotated in its second direction.

The coupler gear 363 is rotatably mounted to a lock drum 364. The lock drum 364 includes a shaft extending therefrom about which the coupler gear 363 is rotatably positioned. The lock drum 364 is rotatable between a first, or engaged, position in which the coupler gear 363 is operably engaged with the articulation gear 361 and the rack 353 and a second, or disengaged, position in which the coupler gear 363 is operably disengaged from the articulation gear 361 and/or the rack 353. The lock drum 364 includes a switch arm 368 extending therefrom which, referring to FIG. 16, extends through a window defined the in the closure tube 324. An edge of the closure tube window comprises a cam 326. The cam 326 is configured to contact the switch arm 368 when the closure tube 324 is moved between a proximal, or open, position and a distal, or closed, position to move the end effector 230 between an open configuration and a closed configuration. In such instances, the cam 326 moves the lock drum 364 between its first position illustrated in FIG. 20, which is associated with the articulation operating mode, and its second position illustrated in FIG. 21, which is associated with the firing operating mode.

Further to the above, referring primarily to FIGS. 14 and 15, the shaft assembly 320 comprises a switch drum 365 and a biasing member, such as a torsion spring 327, for example, positioned intermediate the switch drum 365 and the nozzle 325. The torsion spring 327 is compressed between the switch drum 365 and the nozzle 325 and applies a biasing force to the switch drum 365 into a first position associated with the articulation operating mode of the shaft assembly 320. Referring primarily to FIG. 20, the switch arm 368 of the lock drum 364 extends into the switch drum 365 and, as a result, the torsion spring 327 biases the lock drum 364 into its first position. When the closure tube 324 is advanced distally, as described above, the cam 326 defined on the closure tube 324 contacts the switch arm 368 and rotates the switch drum 365 and the lock drum 364 into their second positions and, as a result, switches the shaft assembly 320 into is firing operating mode, as illustrated in FIG. 21. The movement of the switch drum 365 from its first position to its second position compresses, or further compresses, the torsion spring 327.

In the firing operation mode of the shaft assembly 320, the articulation drive 360 is unresponsive to the translational movements of the input actuator 350 and, also, the input actuator 350 is advanceable distally to move the firing member 251 distally and fire the staple cartridge positioned in the end effector 230. In various instances, the input actuator 350 is operably coupled with an electric motor, for example, configured to move the input actuator 350 distally. The input actuator 350 is also movable proximally by the electric motor, for example, to retract the firing member 251. Referring primarily to FIG. 19, the input actuator 350 includes a longitudinal slot 352 defined therein which comprises a clearance slot for the articulation gear shaft 362. Referring primarily to FIG. 15, the closure tube 324 comprises a similar longitudinal clearance slot 328 for the articulation gear shaft 362 defined therein. Such longitudinal clearance slots are needed because the input actuator 350 and the closure tube 324 are moved longitudinally. Referring to FIG. 17, the lock drum 364 is not translatable longitudinally; however, it is rotatable about the longitudinal shaft axis and, thus, the lock drum 364 includes a circumferential clearance slot 366 defined therein for the articulation gear shaft 362.

Further to the above, referring primarily to FIGS. 18-21, the lock drum 364 includes a lock 369. When the lock drum 364 is in its first position and the shaft assembly 320 is in its articulation operation mode, referring primarily to FIG. 20, the lock 369 is not engaged with the articulation gear 361 and the articulation gear 361 is free to rotate and drive the articulation actuators 370, 380, as discussed above. When the lock drum 364 is in its second position and the shaft assembly 320 is in its firing operation mode, referring primarily to FIG. 21, the lock 369 is engaged with the articulation gear 361. When the lock 369 is engaged with the articulation gear 361, the articulation gear 361 is prevented from rotating. As a result, not only is the articulation drive 360 uncoupled from the input actuator 350 when the shaft assembly 320 is in its firing operation mode, the articulation drive 360 is locked in place. Such an arrangement can lock the end effector 230 in an articulated position or an unarticulated position. Such an arrangement can also prevent, or at least inhibit, the unintentional movement of the end effector 230 in response to external forces, or back-driving.

The shaft assembly 320 can be switched from its firing operation mode to its articulation operation mode when the closure tube 324 is moved proximally toward its open position. In such instances, the cam 326 can be pulled proximally away from the switch arm 368 and the torsion spring 327 can bias the switch drum 365 and the lock drum 364 back into their first positions. When the lock drum 364 is returned to its first position, the coupler gear 363 is remeshed with the articulation gear 361 and the rack 353. In addition, the lock 369 is rotated away from and disengaged from the articulation gear 361.

As outlined above, the shaft assembly 320 is rotatable about a longitudinal axis to rotate the end effector 230 about the longitudinal axis. Similar to the above, referring primarily to FIG. 16, the shaft assembly 320 comprises a rotation joint 290 configured to accommodate this rotation. The shaft assembly 320 further comprises a slip joint configured to transmit electrical power and/or signals between the shaft assembly 320 and a handle, such as handle 110, for example, supporting the shaft assembly 320. The slip joint comprises a stationary, or handle-side, portion 291 and a movable, or shaft-side, portion 292 which is movable relative the stationary portion 291. The stationary portion 291 comprises annular contact rings and the movable portion 292 comprises electrical contacts 293 slidably engaged with the annular contact rings. The movable portion 292 also comprises a switch drum sensor 296 configured to detect the position of the switch drum 295, i.e., whether the switch drum 295 is in its first position, its second position, and/or somewhere in between, for example. In at least one instance, the switch drum 295 comprises a detectable element 297, such as a magnet, for example, mounted thereto which is detected by the switch drum sensor 296, which can comprise a Hall Effect sensor, for example. The switch drum sensor 296 can be in signal communication with the handle of the surgical instrument and can communicate the position of the switch drum 295, and the operation mode of the shaft assembly 230, to the handle. The handle can utilize this data to adapt the operability of the handle. For instance, if the switch drum sensor 296 detects that the switch drum 295 is in its first position associated with the articulation operation mode, the handle can deactivate the firing controls on the handle and/or make the electrical motor which drives the input actuator 350 unresponsive to the firing controls of the handle, for example. Similarly, if the switch drum sensor 296 detects that the switch drum 295 is in its second position associated with the firing operation mode, the handle can deactivate the articulation controls on the handle and/or make the electrical motor which drives the input actuator 350 unresponsive to the articulation controls of the handle, for example.

EXAMPLES Example 1

A shaft assembly for use with a surgical instrument assembly comprising an end effector, wherein the end effector comprises a proximal end, a distal end, and a closable jaw. The shaft assembly further comprises an articulation joint, wherein the end effector is rotatable about the articulation joint, an input actuator movable in a proximal direction and a distal direction, a closure system comprising a closing member movable between an open configuration and a closed configuration to close the jaw, a firing system comprising a firing member configured to actuate the end effector, and an articulation system comprising an articulation actuator configured to articulate the end effector. The shaft assembly further comprises a switching system configured to operably couple the articulation system to the input actuator when the closure system is in the open configuration, operably decouple the articulation system from the input actuator when the closure system is in the closed configuration, and lock the articulation system in its articulated position when the closure system is in the closed configuration.

Example 2

The shaft assembly of Example 1, wherein the end effector further comprises a staple cartridge including staples removably stored therein.

Example 3

The shaft assembly of Example 2, wherein the staple cartridge is readily removable from the end effector.

Example 4

The shaft assembly of Examples 2 or 3, wherein the movable jaw comprises an anvil configured to deform the staples.

Example 5

The shaft assembly of Examples 1, 2, 3, or 4, wherein the articulation actuator comprises a first articulation actuator, wherein the articulation system further comprises a second articulation actuator configured to rotate the end effector and a rotatable articulation driver comprising a first actuator slot and a second actuator slot, wherein the first articulation actuator is operably engaged with the first actuator slot, wherein the second articulation actuator is operably engaged with the second actuator slot, wherein the articulation driver is rotatable in a first direction to push the first articulation actuator distally and pull the second articulation actuator proximally, and wherein the articulation driver is rotatable in a second direction to pull the first articulation actuator proximally and push the second articulation actuator distally.

Example 6

The shaft assembly of Example 5, wherein the rotatable articulation driver comprises a longitudinal aperture, wherein the input actuator extends through the longitudinal aperture, wherein the input actuator rotates the articulation driver in the first direction when the input actuator is moved in the proximal direction, and wherein the input actuator rotates the articulation driver in the second direction when the input actuator is moved in the distal direction.

Example 7

The shaft assembly of Examples 1, 2, 3, or 4, wherein the articulation actuator comprises a first articulation actuator, wherein the articulation system further comprises a second articulation actuator configured to rotate the end effector, wherein the input actuator comprises a rack of teeth, wherein the switching system comprises a rotatable pinion gear movable between a first position in which the pinion gear is operably engaged with the first articulation actuator, the second articulation actuator, and the rack of teeth and a second position in which the pinion gear is operably disengaged from the first articulation actuator and the second articulation actuator.

Example 8

The shaft assembly of Example 7, wherein the pinion gear is rotatably mounted to a rotatable switch, wherein the rotatable switch comprises a lock configured to prevent the movement of the first articulation actuator and the second articulation actuator when the rotatable pinion gear is in the second position.

Example 9

A shaft assembly for use with a surgical instrument, the shaft assembly comprising an end effector including a proximal end, a distal end, and a closable jaw. The shaft assembly further comprises an articulation joint, wherein the end effector is rotatable about the articulation joint, an input actuator movable in a proximal direction and a distal direction, a closure system comprising a closing member movable between an open configuration and a closed configuration to close the jaw, a firing system comprising a firing member configured to actuate the end effector, and an articulation system comprising an articulation actuator configured to articulate the end effector. The shaft assembly further comprises a switching system configured to operably couple the articulation system to the input actuator when the closure system is in the open configuration, operably decouple the articulation system from the input actuator when the closure system is in the closed configuration, and wherein the switching system comprises a brake configured to hold the articulation system in its articulated position when the closure system is in the closed configuration.

Example 10

The shaft assembly of Example 9, wherein the end effector further comprises a staple cartridge including staples removably stored therein.

Example 11

A shaft assembly for use with a surgical instrument, the shaft assembly comprising an end effector including a proximal end, a distal end, and a closable jaw. The shaft assembly further comprises an articulation joint, wherein the end effector is rotatable about the articulation joint, an input actuator movable in a proximal direction and a distal direction, a closure system comprising a closing member movable between an open configuration and a closed configuration to close the jaw, a firing system comprising a firing member configured to actuate the end effector, and an articulation system. The articulation system comprising a first articulation member configured to articulate the end effector in a first direction, and a second articulation member configured to articulate the end effector in a second direction. The shaft assembly further comprising a switching system configured to operably couple the articulation system to the input actuator when the closure system is in the open configuration, and operably decouple the articulation system from the input actuator when the closure system is in the closed configuration. The shaft assembly further comprising locking means for locking the articulation system in its articulated position when the closure system is in the closed configuration.

Example 12

The shaft assembly of Example 11, wherein the end effector further comprises a staple cartridge including staples removably stored therein.

Example 13

A shaft assembly for use with a surgical instrument, the shaft assembly comprising, one, an end effector including a proximal end, a distal end, and a closable jaw and, two, an articulation joint, wherein the end effector is rotatable about the articulation joint in a first direction and a second direction. The articulation joint comprises a plurality of discs, wherein each disc comprises a first lateral aperture and a second lateral aperture, a first cable actuator extending through the first lateral apertures, wherein the first cable actuator comprises a first distal end mounted to the end effector and a first proximal end, and a second cable actuator extending through the second lateral apertures, wherein the second cable actuator comprises a second distal end mounted to the end effector and a second proximal end. The shaft assembly further comprises a locking system configured to hold the first proximal end and the second proximal end in position.

Example 14

The shaft assembly of Example 13, wherein the end effector further comprises a staple cartridge including staples removably stored therein.

Example 15

The shaft assembly of Example 14, wherein the staple cartridge is readily removable from the end effector.

Example 16

The shaft assembly of Examples 14 and 15, wherein the movable jaw comprises an anvil configured to deform the staples.

Example 17

The shaft assembly of Examples 13, 14, 15, or 16, wherein the locking system comprises a clamp configured to engage the first cable actuator and the second cable actuator and hold the first cable actuator and the second cable actuator in position.

Example 18

The shaft assembly of Example 17, wherein the clamp is configured to engage and release the first cable actuator and the second cable actuator simultaneously.

Example 19

The shaft assembly of Examples 13, 14, 15, 16, 17, or 18, wherein the first cable actuator is configured to push the end effector to articulate the end effector in the first direction and pull the end effector to articulate the end effector in the second direction.

Example 20

The shaft assembly of Example 13, 14, 15, 16, 17, 18, or 19, wherein the second cable actuator is configured to pull the end effector to articulate the end effector in the first direction and push the end effector to articulate the end effector in the second direction.

The entire disclosures of:

U.S. Pat. No. 5,403,312, entitled ELECTROSURGICAL HEMOSTATIC DEVICE, which issued on Apr. 4, 1995;

U.S. Pat. No. 7,000,818, entitled SURGICAL STAPLING INSTRUMENT HAVING SEPARATE DISTINCT CLOSING AND FIRING SYSTEMS, which issued on Feb. 21, 2006;

U.S. Pat. No. 7,422,139, entitled MOTOR-DRIVEN SURGICAL CUTTING AND FASTENING INSTRUMENT WITH TACTILE POSITION FEEDBACK, which issued on Sep. 9, 2008;

U.S. Pat. No. 7,464,849, entitled ELECTRO-MECHANICAL SURGICAL INSTRUMENT WITH CLOSURE SYSTEM AND ANVIL ALIGNMENT COMPONENTS, which issued on Dec. 16, 2008;

U.S. Pat. No. 7,670,334, entitled SURGICAL INSTRUMENT HAVING AN ARTICULATING END EFFECTOR, which issued on Mar. 2, 2010;

U.S. Pat. No. 7,753,245, entitled SURGICAL STAPLING INSTRUMENTS, which issued on Jul. 13, 2010;

U.S. Pat. No. 8,393,514, entitled SELECTIVELY ORIENTABLE IMPLANTABLE FASTENER CARTRIDGE, which issued on Mar. 12, 2013;

U.S. patent application Ser. No. 11/343,803, entitled SURGICAL INSTRUMENT HAVING RECORDING CAPABILITIES; now U.S. Pat. No. 7,845,537;

U.S. patent application Ser. No. 12/031,573, entitled SURGICAL CUTTING AND FASTENING INSTRUMENT HAVING RF ELECTRODES, filed Feb. 14, 2008;

U.S. patent application Ser. No. 12/031,873, entitled END EFFECTORS FOR A SURGICAL CUTTING AND STAPLING INSTRUMENT, filed Feb. 15, 2008, now U.S. Pat. No. 7,980,443;

U.S. patent application Ser. No. 12/235,782, entitled MOTOR-DRIVEN SURGICAL CUTTING INSTRUMENT, now U.S. Pat. No. 8,210,411;

U.S. patent application Ser. No. 12/249,117, entitled POWERED SURGICAL CUTTING AND STAPLING APPARATUS WITH MANUALLY RETRACTABLE FIRING SYSTEM, now U.S. Pat. No. 8,608,045;

U.S. patent application Ser. No. 12/647,100, entitled MOTOR-DRIVEN SURGICAL CUTTING INSTRUMENT WITH ELECTRIC ACTUATOR DIRECTIONAL CONTROL ASSEMBLY, filed Dec. 24, 2009; now U.S. Pat. No. 8,220,688;

U.S. patent application Ser. No. 12/893,461, entitled STAPLE CARTRIDGE, filed Sep. 29, 2012, now U.S. Pat. No. 8,733,613;

U.S. patent application Ser. No. 13/036,647, entitled SURGICAL STAPLING INSTRUMENT, filed Feb. 28, 2011, now U.S. Pat. No. 8,561,870;

U.S. patent application Ser. No. 13/118,241, entitled SURGICAL STAPLING INSTRUMENTS WITH ROTATABLE STAPLE DEPLOYMENT ARRANGEMENTS, now U.S. Patent Application Publication No. 2012/0298719;

U.S. patent application Ser. No. 13/524,049, entitled ARTICULATABLE SURGICAL INSTRUMENT COMPRISING A FIRING DRIVE, filed on Jun. 15, 2012; now U.S. Patent Application Publication No. 2013/0334278;

U.S. patent application Ser. No. 13/800,025, entitled STAPLE CARTRIDGE TISSUE THICKNESS SENSOR SYSTEM, filed on Mar. 13, 2013;

U.S. patent application Ser. No. 13/800,067, entitled STAPLE CARTRIDGE TISSUE THICKNESS SENSOR SYSTEM, filed on Mar. 13, 2013;

U.S. Patent Application Publication No. 2007/0175955, entitled SURGICAL CUTTING AND FASTENING INSTRUMENT WITH CLOSURE TRIGGER LOCKING MECHANISM, filed Jan. 31, 2006; and

U.S. Patent Application Publication No. 2010/0264194, entitled SURGICAL STAPLING INSTRUMENT WITH AN ARTICULATABLE END EFFECTOR, filed Apr. 22, 2010, now U.S. Pat. No. 8,308,040, are hereby incorporated by reference herein.

Although the various embodiments of the devices have been described herein in connection with certain disclosed embodiments, many modifications and variations to those embodiments may be implemented. Also, where materials are disclosed for certain components, other materials may be used. Furthermore, according to various embodiments, a single component may be replaced by multiple components, and multiple components may be replaced by a single component, to perform a given function or functions. The foregoing description and following claims are intended to cover all such modification and variations.

The devices disclosed herein can be designed to be disposed of after a single use, or they can be designed to be used multiple times. In either case, however, the device can be reconditioned for reuse after at least one use. Reconditioning can include any combination of the steps of disassembly of the device, followed by cleaning or replacement of particular pieces, and subsequent reassembly. In particular, the device can be disassembled, and any number of the particular pieces or parts of the device can be selectively replaced or removed in any combination. Upon cleaning and/or replacement of particular parts, the device can be reassembled for subsequent use either at a reconditioning facility, or by a surgical team immediately prior to a surgical procedure. Those skilled in the art will appreciate that reconditioning of a device can utilize a variety of techniques for disassembly, cleaning/replacement, and reassembly. Use of such techniques, and the resulting reconditioned device, are all within the scope of the present application.

Preferably, the invention described herein will be processed before surgery. First, a new or used instrument is obtained and if necessary cleaned. The instrument can then be sterilized. In one sterilization technique, the instrument is placed in a closed and sealed container, such as a plastic or TYVEK bag. The container and instrument are then placed in a field of radiation that can penetrate the container, such as gamma radiation, x-rays, or high-energy electrons. The radiation kills bacteria on the instrument and in the container. The sterilized instrument can then be stored in the sterile container. The sealed container keeps the instrument sterile until it is opened in the medical facility.

While this invention has been described as having exemplary designs, the present invention may be further modified within the spirit and scope of the disclosure. This application is therefore intended to cover any variations, uses, or adaptations of the invention using its general principles.

Any patent, publication, or other disclosure material, in whole or in part, that is said to be incorporated by reference herein is incorporated herein only to the extent that the incorporated materials does not conflict with existing definitions, statements, or other disclosure material set forth in this disclosure. As such, and to the extent necessary, the disclosure as explicitly set forth herein supersedes any conflicting material incorporated herein by reference. Any material, or portion thereof, that is said to be incorporated by reference herein, but which conflicts with existing definitions, statements, or other disclosure material set forth herein will only be incorporated to the extent that no conflict arises between that incorporated material and the existing disclosure material. 

What is claimed is:
 1. A shaft assembly for use with a surgical instrument, said shaft assembly comprising: an end effector, comprising: a proximal end; a distal end; and a movable jaw; an articulation joint, wherein said end effector is rotatable about said articulation joint; an input actuator movable in a proximal direction and a distal direction; a closure system comprising a closing member movable between an open configuration and a closed configuration to close said movable jaw; a firing system comprising a firing member, wherein said firing system is configured to actuate said end effector; an articulation system comprising an articulation actuator configured to articulate said end effector, wherein said articulation actuator comprises: a first articulation actuator; and a second articulation actuator configured to rotate said end effector, wherein said first articulation actuator and said second articulation actuator are configured to move separately from one another and are configured to move in different directions; and a switching system configured to: operably couple said articulation system to said input actuator when said closure system is in said open configuration; operably decouple said articulation system from said input actuator when said closure system is in said closed configuration; and lock said articulation system in an articulated position when said closure system is in said closed configuration.
 2. The shaft assembly of claim 1, wherein said end effector further comprises a staple cartridge comprising staples removably stored therein.
 3. The shaft assembly of claim 2, wherein said staple cartridge is removable from said end effector.
 4. The shaft assembly of claim 2, wherein said movable jaw comprises an anvil configured to deform said staples.
 5. The shaft assembly of claim 1, wherein said input actuator comprises a rack of teeth, wherein said switching system comprises a rotatable pinion gear movable between a first position in which the pinion gear is operably engaged with said first articulation actuator, said second articulation actuator, and said rack of teeth and a second position in which the pinion gear is operably disengaged from said first articulation actuator and said second articulation actuator.
 6. The shaft assembly of claim 5, wherein said pinion gear is rotatably mounted to a rotatable switch, wherein said rotatable switch comprises a lock configured to prevent the movement of said first articulation actuator and said second articulation actuator when said rotatable pinion gear is in said second position.
 7. The shaft assembly of claim 1, wherein said articulation system further comprises a rotatable articulation driver, wherein the rotatable articulation driver comprises: a first actuator slot, wherein said first articulation actuator is operably engaged with said first actuator slot; a second actuator slot, wherein said second articulation actuator is operably engaged with said second actuator slot, wherein said rotatable articulation driver is rotatable: in a first direction to push said first articulation actuator distally and pull said second articulation actuator proximally; and in a second direction to pull said first articulation actuator proximally and push said second articulation actuator distally; and a longitudinal aperture, wherein said input actuator extends through said longitudinal aperture, wherein said input actuator rotates said rotatable articulation driver: in said first direction when said input actuator is moved in said proximal direction, and in said second direction when said input actuator is moved in said distal direction.
 8. A shaft assembly for use with a surgical instrument, said shaft assembly comprising: an end effector, comprising: a proximal end; a distal end; and a closable jaw; an articulation joint, wherein said end effector is rotatable about said articulation joint; an input actuator movable in a proximal direction and a distal direction; a closure system comprising a closing member movable between an open configuration and a closed configuration to close said jaw; a firing system comprising a firing member configured to actuate said end effector; an articulation system comprising an articulation actuator configured to articulate said end effector; and a switching system configured to: operably couple said articulation system to said input actuator when said closure system is in said open configuration; operably decouple said articulation system from said input actuator when said closure system is in said closed configuration; and wherein said switching system comprises a brake configured to hold said articulation system in its articulated position when said closure system is in said closed configuration.
 9. The shaft assembly of claim 8, wherein said end effector further comprises a staple cartridge including staples removably stored therein.
 10. A shaft assembly for use with a surgical instrument, said shaft assembly comprising: an end effector, comprising: a proximal end; a distal end; and a closable jaw; an articulation joint, wherein said end effector is rotatable about said articulation joint; an input actuator movable in a proximal direction and a distal direction; a closure system comprising a closing member movable between an open configuration and a closed configuration to close said jaw; a firing system comprising a firing member configured to actuate said end effector; an articulation system, comprising: a first articulation member configured to articulate said end effector in a first direction; and a second articulation member configured to articulate said end effector in a second direction, wherein said first direction is different than said second direction; a switching system configured to: operably couple said articulation system to said input actuator when said closure system is in said open configuration; and operably decouple said articulation system from said input actuator when said closure system is in said closed configuration; and locking means for locking said articulation system in its articulated position when said closure system is in said closed configuration.
 11. The shaft assembly of claim 10, wherein said end effector further comprises a staple cartridge comprising staples removably stored therein. 